hlrc

---

BasedOnStyle:  Google

ColumnLimit:    125

MaxEmptyLinesToKeep: 1

SortIncludes: false

Standard:        Auto

IndentWidth:     3

TabWidth:        3

UseTab:          ForIndentation

AccessModifierOffset: -3

ConstructorInitializerIndentWidth: 3

NamespaceIndentation: None

ContinuationIndentWidth: 3

IndentCaseLabels: true

IndentFunctionDeclarationAfterType: false

AlignEscapedNewlinesLeft: false

AlignTrailingComments: true

AllowAllParametersOfDeclarationOnNextLine: false

ExperimentalAutoDetectBinPacking: false

ObjCSpaceBeforeProtocolList: true

Cpp11BracedListStyle: false

AllowShortBlocksOnASingleLine: true

AllowShortIfStatementsOnASingleLine: false

AllowShortLoopsOnASingleLine: false

AllowShortFunctionsOnASingleLine: None

AllowShortCaseLabelsOnASingleLine: false

AlwaysBreakTemplateDeclarations: true

AlwaysBreakBeforeMultilineStrings: false

BreakBeforeBinaryOperators: false

BreakBeforeTernaryOperators: false

BreakConstructorInitializersBeforeComma: true

BinPackParameters: true

ConstructorInitializerAllOnOneLineOrOnePerLine: true

DerivePointerBinding: false

PointerBindsToType: true

PenaltyExcessCharacter: 50

PenaltyBreakBeforeFirstCallParameter: 30

PenaltyBreakComment: 1000

PenaltyBreakFirstLessLess: 10

PenaltyBreakString: 100

PenaltyReturnTypeOnItsOwnLine: 50

SpacesBeforeTrailingComments: 1

SpacesInParentheses: false

SpacesInAngles:  false

SpaceInEmptyParentheses: false

SpacesInCStyleCastParentheses: false

SpaceAfterCStyleCast: false

SpaceAfterControlStatementKeyword: true

SpaceBeforeAssignmentOperators: true

# Configure each individual brace in BraceWrapping

BreakBeforeBraces: Custom

# Control of individual brace wrapping cases

BraceWrapping:

    AfterCaseLabel: true

    AfterClass: false

    AfterControlStatement: false

    AfterEnum: true

    AfterFunction: false

    AfterNamespace: false

    AfterStruct: false

    AfterUnion: false

    BeforeCatch: true

    BeforeElse: true

    IndentBraces: false

...

 * This file is part of hlrc_client

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc_server

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

float rand_float(float min, float max) {

	float f = (float)rand() / RAND_MAX;

	return min + f * (max - min);

int main(int argc, char** argv) {

	if (argc != 3) {

		printf("usage: %s <middleware> <robot scope>\n", argv[0]);

		printf("       <middleware> is either ROS or RSB\n");

		printf("       <robot scope> e.g. /flobi or /icub\n\n");

		exit(EXIT_FAILURE);

	}

	RobotController* robot_controller = new RobotController(argv[1], argv[2]); //"/flobi");

	// robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::NEUTRAL));

	RobotGaze gaze;

	int count = 0;

	while (1) {

		if (count++ >= 50) {

			// a new target every second:

			gaze.pan = rand_float(-20.0, 20.0);

			// absolute mode

			gaze.gaze_type = RobotGaze::ABSOLUTE;

			gaze.gaze_timestamp = RobotTimestamp::now();

			// robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::ANGRY));

			// reset counter

		robot_controller->set_gaze_target(gaze);

		usleep(1000 / 50 * 1000);

	}

 * This file is part of hlrc_client

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc_server

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

int main(int argc, char** argv) {

	RobotController* robot_controller = new RobotController("RSB", "/flobi");

	int count = 0;

	printf("> speech test starting.\n");

	robot_controller->set_speak("i will start counting now.\n", BLOCKING);

	while (1) {

		std::string text = std::to_string(count++);

		printf("> saying '%s'\n", text.c_str());

		robot_controller->set_speak(text, BLOCKING);

		sleep(1);

	}

 * This file is part of hlrc

 *

 * Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

 * http://opensource.cit-ec.de/projects/hlrc

 *

 * This file may be licensed under the terms of the

 * GNU General Public License Version 3 (the ``GPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the GPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the GPL along with this

 * program. If not, go to http://www.gnu.org/licenses/gpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by the

 * Excellence Cluster EXC 277 Cognitive Interaction Technology.

 * The Excellence Cluster EXC 277 is a grant of the Deutsche

 * Forschungsgemeinschaft (DFG) in the context of the German

 * Excellence Initiative.

 *

 */

// allow direct synthesis using inprotk calls. by default this is disabled

// until inprotk gets to an usable state (e.g. the completion flag has to work)

class Middleware {

	Middleware(std::string scope);

	void set_default_emotion(RobotEmotion e, bool blocking);

	void set_current_emotion(RobotEmotion e, bool blocking);

	void set_gaze_target(RobotGaze target, bool blocking);

	void set_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll);

	void set_mouth_target(RobotMouth target, bool blocking);

	void set_head_animation(RobotHeadAnimation a, bool blocking);

	void set_speak(std::string text, bool blocking);

	RobotEmotion get_current_emotion();

	RobotEmotion get_default_emotion();

	RobotGaze get_gaze_target();

	virtual void init() = 0;

	virtual void publish_default_emotion(RobotEmotion e, bool blocking) = 0;

	virtual void publish_current_emotion(RobotEmotion e, bool blocking) = 0;

	virtual void publish_gaze_target(RobotGaze g, bool blocking) = 0;

	virtual void publish_lookat_target(float x, float y, float z, const std::string frame_id, bool blocking, float roll) = 0;

	virtual void publish_mouth_target(RobotMouth m, bool blocking) = 0;

	virtual void publish_head_animation(RobotHeadAnimation a, bool blocking) = 0;

	virtual void publish_speech(std::string text, bool blocking) = 0;

	std::string base_scope;

	RobotEmotion defaultEmotion;

	RobotEmotion currentEmotion;

	RobotGaze gazeTarget;

	RobotMouth mouthTarget;

	RobotHeadAnimation headAnimation;